When a device pointer is obtained the tracker can be polled for new data with \hyperlink{libz800_8h_a5e4108bd3a25d78c74e4d6134ace6c6f}{z800\_\-poll\_\-tracker()}. On success, this function updates the internal state with the new accelerometer, magnetometer and gyro measurements.

After \hyperlink{libz800_8h_a5e4108bd3a25d78c74e4d6134ace6c6f}{z800\_\-poll\_\-tracker()} has been called the following functions can be called for debugging purposes:
\begin{DoxyItemize}
\item \hyperlink{libz800_8h_a6c98cca7c320318cadc0a6bf11c3b7f0}{z800\_\-get\_\-raw\_\-tracker\_\-data()}
\item \hyperlink{libz800_8h_a3d5799ce2e02774524e7d042df3631eb}{z800\_\-get\_\-gyro\_\-speed()}
\item \hyperlink{libz800_8h_a34aad9101c5a590b1402bb5c359ae5c0}{z800\_\-get\_\-stabilization()}
\end{DoxyItemize}

Note however for normal operation these functions need {\bfseries not} be called.

A kalman-\/filtered orientation is accessable as a quaternion (XYZW) using \hyperlink{libz800_8h_a57f8f1dc735789a59c519195aeaeeb5c}{z800\_\-get\_\-orientation()}.

Example:


\begin{DoxyCode}
        if(z800_poll_tracker(dev) == Z800_FALSE)
        {
                fprintf(stderr, "z800_poll_tracker() failed");
        }
        else
        {
                double q[4];
                if(z800_get_orientation(_dev, &q) == Z800_FALSE)
                {
                        fprintf(stderr, "z800_get_orientation() failed");
                }
                else
                {
                        printf("Orientation: %+2.f %+2.f %+2.f %+2.f\n", q[0], q[
      1], q[2], q[3]);                        
                }
        }
\end{DoxyCode}
\hypertarget{trackercon_calib}{}\section{Calibration data}\label{trackercon_calib}
libz800 currently has certain calibration data for the various sensors hard-\/coded for my specific device. It looks like these values are okay for other devices too but in case they need to be adjusted the following functions are available:


\begin{DoxyItemize}
\item \hyperlink{libz800_8h_a4bb240a2a09ae45e7603b974ee9445e2}{z800\_\-get\_\-calibration\_\-data()}
\item \hyperlink{libz800_8h_a45c8e2c63c46a3bb31997826e64b5f6d}{z800\_\-set\_\-calibration\_\-data()} 
\end{DoxyItemize}